交叉耦合控制的平移并联机器人位置控制研究  

Research on Position Control of Translational Parallel Robot Based on Cross Coupling Control

作　　者：马小燕[1] 杨润贤[1] 葛强 MA Xiaoyan;YANG Runxian;GE Qiang(Intelligent Manufacturing Institute,Yangzhou Polytechnic Institute,Yangzhou Jiangsu 225127,China;College of Electrical and Energy Power Engineering,Yangzhou University,Yangzhou Jiangsu 225127,China)

机构地区：[1]扬州工业职业技术学院智能制造学院,江苏扬州225127 [2]扬州大学电气与能源动力工程学院,江苏扬州225127

出　　处：《机床与液压》2021年第15期57-61,共5页Machine Tool & Hydraulics

基　　金：江苏省高校自然科学研究面上项目(14KJB480006);江苏省高等学校自然科学研究项目(20KJB470032);全国轻工职业教育教学指导委员会课题(QGHZW2019069)。

摘　　要：为了改善平移并联机器人对期望位置跟踪的准确性,提出基于交叉耦合控制的集成电液伺服驱动平移并联机器人位置控制。通过对三自由度集成电液伺服驱动平移并联机器人结构和控制方法进行分析,以机器人的末端执行器为基础,定义位置及角度坐标系,在此坐标系上计算并联机器人的逆向和正向运动学解;通过液压轴的伸长长度,求取液压轴的速度和加速度,进而得出集成电液伺服驱动器的动力学模型。以集成电液伺服驱动器的位置误差为基础,求取三自由度下集成电液伺服驱动器的同步误差,利用该同步误差,构造交叉耦合误差模型,进而求取广义误差模型,建立交叉耦合控制器,以实现对机器人的位置进行控制。实验结果显示:与粒子群方法相比,所提方法对正弦及不规则期望位置的跟踪准确度较高,跟踪准确度分别提高了40%和42.15%。可见,所提方法能够对集成电液伺服驱动的平移并联机器人进行准确的位置控制。In order to improve the accuracy of tracking the desired position of the translational parallel robot,a research on the in⁃tegrated electro⁃hydraulic servo driven translational parallel robot position control was presented based on cross coupling control.The structure and controlling means of the 3-DOF integrated electro⁃hydraulic servo driven translational parallel robot were analyzed.Based on the end actuator of the robot,the position and angle coordinate system was defined,and the inverse and forward kinematics solutions of the parallel robot were calculated in this coordinate system.Through the extension length of the hydraulic shaft,the speed and accel⁃eration of the hydraulic shaft were calculated,then the dynamic model of the integrated electro⁃hydraulic servo driver was obtained.Based on the position error of the integrated electro⁃hydraulic servo driver,the synchronization error of the integrated electro⁃hydraulic servo driver under three degrees of freedom was obtained.Using the synchronization error,the cross coupling error model was construc⁃ted,then the generalized error model was obtained,and the cross coupling controller was established to control the position of the robot.The experimental results show that compared with particle swarm optimization method,the tracking accuracy of the proposed method is improved by 40%and 42.15%respectively when tracking sinusoidal and irregular expected positions.The proposed method can be used to accurately control the position of the translational parallel robot with integrated electro⁃hydraulic servo drive.

关 键 词：平移并联机器人 集成电液伺服驱动器 三自由度 交叉耦合控制器 位置误差 

分 类 号：U463[机械工程—车辆工程]